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#include "SMReconstructionWorker.h"
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#include "SMReconstructionWorker.h"
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#include "CodecGrayCode.h"
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#include "AlgorithmGrayCode.h"
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#include "CodecPhaseShift.h"
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#include "AlgorithmPhaseShift.h"
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#include <QCoreApplication>
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#include <QCoreApplication>
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#include <QSettings>
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#include <QSettings>
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#include <iostream>
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#include <iostream>
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    QSettings settings;
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    QSettings settings;
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    // Get current calibration
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    // Get current calibration
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    calibration = settings.value("calibration/parameters").value<SMCalibrationParameters>();
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    calibration = settings.value("calibration/parameters").value<SMCalibrationParameters>();
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    // Create decoder
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    // Create Algorithm
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    dir = (CodecDir)settings.value("pattern/direction", CodecDirHorizontal).toInt();
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    dir = (CodingDir)settings.value("pattern/direction", CodingDirHorizontal).toInt();
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    if(dir == CodecDirNone)
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    if(dir == CodingDirNone)
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        std::cerr << "SMCaptureWorker: invalid coding direction " << std::endl;
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        std::cerr << "SMCaptureWorker: invalid coding direction " << std::endl;
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    int resX = settings.value("projector/resX").toInt();
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    int resX = settings.value("projector/resX").toInt();
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    int resY = settings.value("projector/resY").toInt();
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    int resY = settings.value("projector/resY").toInt();
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    QString codec = settings.value("codec", "GrayCode").toString();
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    QString codec = settings.value("codec", "GrayCode").toString();
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    if(codec == "PhaseShift")
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    if(codec == "PhaseShift")
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        decoder = new DecoderPhaseShift(dir, resX, resY);
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        algorithm = new AlgorithmPhaseShift(resX, resY, dir);
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    else if(codec == "GrayCode")
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    else if(codec == "GrayCode")
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        decoder = new DecoderGrayCode(dir, resX, resY);
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        algorithm = new AlgorithmGrayCode(resX, resY, dir);
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    else
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    else
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        std::cerr << "SLScanWorker: invalid codec " << codec.toStdString() << std::endl;
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        std::cerr << "SLScanWorker: invalid codec " << codec.toStdString() << std::endl;
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    // Precompute lens correction maps
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    // Precompute lens correction maps
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    time.start();
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    time.start();
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    // Get correspondences
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    // Get correspondences
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    std::vector<cv::Point2f> q0, q1;
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    std::vector<cv::Point2f> q0, q1;
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    std::vector<cv::Point3f> color;
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    std::vector<cv::Point3f> color;
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    decoder->getCorrespondences(frameSequence.frames0, frameSequence.frames0, q0, q1, color);
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    algorithm->getCorrespondences(calibration, frameSequence.frames0, frameSequence.frames0, q0, q1, color);
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    // Triangulate
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    // Triangulate
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    std::vector<cv::Point3f> Q;
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    std::vector<cv::Point3f> Q;
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    triangulate(q0, q1, Q);
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    triangulate(q0, q1, Q);
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        reconstructPointCloud(frameSequences[i]);
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        reconstructPointCloud(frameSequences[i]);
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    }
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    }
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}
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}
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void SMReconstructionWorker::triangulate(std::vector<cv::Point2f>& q0, std::vector<cv::Point2f>& q1, std::vector<cv::Point3f> &Q){}
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void SMReconstructionWorker::triangulate(std::vector<cv::Point2f>& q0, std::vector<cv::Point2f>& q1, std::vector<cv::Point3f> &Q){
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    cv::Mat P0(3,4,CV_32F,cv::Scalar(0.0));
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    cv::Mat(calibration.K0).copyTo(P0(cv::Range(0,3), cv::Range(0,3)));
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    cv::Mat temp(3,4,CV_32F);
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    cv::Mat(calibration.R1).copyTo(temp(cv::Range(0,3), cv::Range(0,3)));
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    cv::Mat(calibration.T1).copyTo(temp(cv::Range(0,3), cv::Range(3,4)));
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    cv::Mat P1 = cv::Mat(calibration.K1) * temp;
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    cv::triangulatePoints(P0, P1, q0, q1, Q);
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}
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//void SMReconstructionWorker::triangulateFromUpVp(cv::Mat &up, cv::Mat &vp, cv::Mat &xyz){
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//void SMReconstructionWorker::triangulateFromUpVp(cv::Mat &up, cv::Mat &vp, cv::Mat &xyz){
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//    std::cerr << "WARNING! NOT FULLY IMPLEMENTED!" << std::endl;
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//    std::cerr << "WARNING! NOT FULLY IMPLEMENTED!" << std::endl;
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//    int N = up.rows * up.cols;
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//    int N = up.rows * up.cols;